MMP Husky UR5e + Robotiq 2F-140¶
To power-on the UR5e and Robotiq 2F-140 completely, run:
ros2 service call /a200_1025/ur5e/activation/hsky_nano/srv/SerialBoolean "{data: true}"
Launch ROS2 driver for UR5e as well as Robotiq 2F-140:
ros2 launch hsky_manipulation ur5e_robotiq.launch.py
To test the UR5e and gripper you can use Moveit2:
ros2 launch hsky_ur_moveit ur_moveit.launch.py
To power-off the UR5e and Robotiq 2F-140 completely, run:
ros2 run hsky_manipulation remote_shutdown.py
Important
The hsky_manipulation driver should be running when executing the shutdown procedure.
MMP Husky Hokuyo¶
The Hokuyo is on by default from the startup job. To launch the Hokuyo only:
ros2 launch hsky_lidars system.launch.py
Warning
Do not run this command, as this is running in the background on startup via the hsky startup job.